Hidden registers ¶

Table of Contents

Hidden registers
- Hidden registers

Below is the description summary of the used to-date hidden registers in the UM7 board.

Hidden registers ¶

Table 120 Hidden registers¶
Address	Register Name	Register Description
`0x00 (0d)`	HIDDEN_GYRO_VARIANCE
`0x01 (1d)`	HIDDEN_ACCEL_VARIANCE
`0x02 (2d)`	HIDDEN_MAG_VARIANCE
`0x03 (3d)`	HIDDEN_GPS_COURSE_VARIANCE
`0x04 (4d)`	HIDDEN_GPS_POSITION_VARIANCE
`0x05 (5d)`	HIDDEN_GPS_VELOCITY_VARIANCE
`0x06 (6d)`	HIDDEN_STATIC_PRESS_VARIANCE
`0x07 (7d)`	HIDDEN_DIFF_PRESS_VARIANCE
`0x09 (9d)`	HIDDEN_Q_UVW
`0x0A (10d)`	HIDDEN_Q_QUATERNION
`0x0B (11d)`	HIDDEN_Q_GPS_POSITION
`0x0C (12d)`	HIDDEN_Q_BIAS
`0x0D (13d)`	HIDDEN_Q_EULER_ANGLES
`0x0E (14d)`	HIDDEN_LOW_VG_ACCEL_NOISE_FACTOR
`0x10 (16d)`	HIDDEN_LPF_TAU_GROUNDSPEED
`0x11 (17d)`	HIDDEN_LPF_TAU_ACCEL
`0x12 (18d)`	HIDDEN_LPF_TAU_GYRO
`0x13 (19d)`	HIDDEN_LPF_TAU_MAG
`0x19 (25d)`	HIDDEN_C_GYRO_BIAS_X_POW_0
`0x1A (26d)`	HIDDEN_C_GYRO_BIAS_X_POW_1
`0x1B (27d)`	HIDDEN_C_GYRO_BIAS_X_POW_2
`0x1C (28d)`	HIDDEN_C_GYRO_BIAS_X_POW_3
`0x1D (29d)`	HIDDEN_C_GYRO_BIAS_Y_POW_0
`0x1E (30d)`	HIDDEN_C_GYRO_BIAS_Y_POW_1
`0x1F (31d)`	HIDDEN_C_GYRO_BIAS_Y_POW_2
`0x20 (32d)`	HIDDEN_C_GYRO_BIAS_Y_POW_3
`0x21 (33d)`	HIDDEN_C_GYRO_BIAS_Z_POW_0
`0x22 (34d)`	HIDDEN_C_GYRO_BIAS_Z_POW_1
`0x23 (35d)`	HIDDEN_C_GYRO_BIAS_Z_POW_2
`0x24 (36d)`	HIDDEN_C_GYRO_BIAS_Z_POW_3
`0x25 (37d)`	HIDDEN_C_GYRO_SCALE_X_POW_0
`0x26 (38d)`	HIDDEN_C_GYRO_SCALE_X_POW_1
`0x27 (39d)`	HIDDEN_C_GYRO_SCALE_X_POW_2
`0x28 (40d)`	HIDDEN_C_GYRO_SCALE_X_POW_3
`0x29 (41d)`	HIDDEN_C_GYRO_SCALE_Y_POW_0
`0x2A (42d)`	HIDDEN_C_GYRO_SCALE_Y_POW_1
`0x2B (43d)`	HIDDEN_C_GYRO_SCALE_Y_POW_2
`0x2C (44d)`	HIDDEN_C_GYRO_SCALE_Y_POW_3
`0x2D (45d)`	HIDDEN_C_GYRO_SCALE_Z_POW_0
`0x2E (46d)`	HIDDEN_C_GYRO_SCALE_Z_POW_1
`0x2F (47d)`	HIDDEN_C_GYRO_SCALE_Z_POW_2
`0x30 (48d)`	HIDDEN_C_GYRO_SCALE_Z_POW_3
`0x31 (49d)`	HIDDEN_GYRO_ALIGNMENT1_1
`0x32 (50d)`	HIDDEN_GYRO_ALIGNMENT1_2
`0x33 (51d)`	HIDDEN_GYRO_ALIGNMENT1_3
`0x34 (52d)`	HIDDEN_GYRO_ALIGNMENT2_1
`0x35 (53d)`	HIDDEN_GYRO_ALIGNMENT2_2
`0x36 (54d)`	HIDDEN_GYRO_ALIGNMENT2_3
`0x37 (55d)`	HIDDEN_GYRO_ALIGNMENT3_1
`0x38 (56d)`	HIDDEN_GYRO_ALIGNMENT3_2
`0x39 (57d)`	HIDDEN_GYRO_ALIGNMENT3_3
`0x3A (58d)`	HIDDEN_C_ACCEL_BIAS_X_POW_0
`0x3B (59d)`	HIDDEN_C_ACCEL_BIAS_X_POW_1
`0x3C (60d)`	HIDDEN_C_ACCEL_BIAS_X_POW_2
`0x3D (61d)`	HIDDEN_C_ACCEL_BIAS_X_POW_3
`0x3E (62d)`	HIDDEN_C_ACCEL_BIAS_Y_POW_0
`0x3F (63d)`	HIDDEN_C_ACCEL_BIAS_Y_POW_1
`0x40 (64d)`	HIDDEN_C_ACCEL_BIAS_Y_POW_2
`0x41 (65d)`	HIDDEN_C_ACCEL_BIAS_Y_POW_3
`0x42 (66d)`	HIDDEN_C_ACCEL_BIAS_Z_POW_0
`0x43 (67d)`	HIDDEN_C_ACCEL_BIAS_Z_POW_1
`0x44 (68d)`	HIDDEN_C_ACCEL_BIAS_Z_POW_2
`0x45 (69d)`	HIDDEN_C_ACCEL_BIAS_Z_POW_3
`0x46 (70d)`	HIDDEN_C_ACCEL_SCALE_X_POW_0
`0x47 (71d)`	HIDDEN_C_ACCEL_SCALE_X_POW_1
`0x48 (72d)`	HIDDEN_C_ACCEL_SCALE_X_POW_2
`0x49 (73d)`	HIDDEN_C_ACCEL_SCALE_X_POW_3
`0x4A (74d)`	HIDDEN_C_ACCEL_SCALE_Y_POW_0
`0x4B (75d)`	HIDDEN_C_ACCEL_SCALE_Y_POW_1
`0x4C (76d)`	HIDDEN_C_ACCEL_SCALE_Y_POW_2
`0x4D (77d)`	HIDDEN_C_ACCEL_SCALE_Y_POW_3
`0x4E (78d)`	HIDDEN_C_ACCEL_SCALE_Z_POW_0
`0x4F (79d)`	HIDDEN_C_ACCEL_SCALE_Z_POW_1
`0x50 (80d)`	HIDDEN_C_ACCEL_SCALE_Z_POW_2
`0x51 (81d)`	HIDDEN_C_ACCEL_SCALE_Z_POW_3
`0x52 (82d)`	HIDDEN_ACCEL_ALIGNMENT1_1
`0x53 (83d)`	HIDDEN_ACCEL_ALIGNMENT1_2
`0x54 (84d)`	HIDDEN_ACCEL_ALIGNMENT1_3
`0x55 (85d)`	HIDDEN_ACCEL_ALIGNMENT2_1
`0x56 (86d)`	HIDDEN_ACCEL_ALIGNMENT2_2
`0x57 (87d)`	HIDDEN_ACCEL_ALIGNMENT2_3
`0x58 (88d)`	HIDDEN_ACCEL_ALIGNMENT3_1
`0x59 (89d)`	HIDDEN_ACCEL_ALIGNMENT3_2
`0x5A (90d)`	HIDDEN_ACCEL_ALIGNMENT3_3
`0x5B (91d)`	HIDDEN_C_MAG_BIAS_X_POW_0
`0x5C (92d)`	HIDDEN_C_MAG_BIAS_X_POW_1
`0x5D (93d)`	HIDDEN_C_MAG_BIAS_X_POW_2
`0x5E (94d)`	HIDDEN_C_MAG_BIAS_X_POW_3
`0x5F (95d)`	HIDDEN_C_MAG_BIAS_Y_POW_0
`0x60 (96d)`	HIDDEN_C_MAG_BIAS_Y_POW_1
`0x61 (97d)`	HIDDEN_C_MAG_BIAS_Y_POW_2
`0x62 (98d)`	HIDDEN_C_MAG_BIAS_Y_POW_3
`0x63 (99d)`	HIDDEN_C_MAG_BIAS_Z_POW_0
`0x64 (100d)`	HIDDEN_C_MAG_BIAS_Z_POW_1
`0x65 (101d)`	HIDDEN_C_MAG_BIAS_Z_POW_2
`0x66 (102d)`	HIDDEN_C_MAG_BIAS_Z_POW_3
`0x67 (103d)`	HIDDEN_C_MAG_SCALE_X_POW_0
`0x68 (104d)`	HIDDEN_C_MAG_SCALE_X_POW_1
`0x69 (105d)`	HIDDEN_C_MAG_SCALE_X_POW_2
`0x6A (106d)`	HIDDEN_C_MAG_SCALE_X_POW_3
`0x6B (107d)`	HIDDEN_C_MAG_SCALE_Y_POW_0
`0x6C (108d)`	HIDDEN_C_MAG_SCALE_Y_POW_1
`0x6D (109d)`	HIDDEN_C_MAG_SCALE_Y_POW_2
`0x6E (110d)`	HIDDEN_C_MAG_SCALE_Y_POW_3
`0x6F (111d)`	HIDDEN_C_MAG_SCALE_Z_POW_0
`0x70 (112d)`	HIDDEN_C_MAG_SCALE_Z_POW_1
`0x71 (113d)`	HIDDEN_C_MAG_SCALE_Z_POW_2
`0x72 (114d)`	HIDDEN_C_MAG_SCALE_Z_POW_3
`0x73 (115d)`	HIDDEN_MAG_ALIGNMENT1_1
`0x74 (116d)`	HIDDEN_MAG_ALIGNMENT1_2
`0x75 (117d)`	HIDDEN_MAG_ALIGNMENT1_3
`0x76 (118d)`	HIDDEN_MAG_ALIGNMENT2_1
`0x77 (119d)`	HIDDEN_MAG_ALIGNMENT2_2
`0x78 (120d)`	HIDDEN_MAG_ALIGNMENT2_3
`0x79 (121d)`	HIDDEN_MAG_ALIGNMENT3_1
`0x7A (122d)`	HIDDEN_MAG_ALIGNMENT3_2
`0x7B (123d)`	HIDDEN_MAG_ALIGNMENT3_3
`0x7C (124d)`	HIDDEN_MAG_REFERENCE_X
`0x7D (125d)`	HIDDEN_MAG_REFERENCE_Y
`0x7E (126d)`	HIDDEN_MAG_REFERENCE_Z

HIDDEN_GYRO_VARIANCE ¶

Address: 0 | 0x00 | 0b00000000¶

Table 121 **HIDDEN_GYRO_VARIANCE**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
HIDDEN_GYRO_VARIANCE: 32-bit IEEE Floating Point Value

HIDDEN_ACCEL_VARIANCE ¶

Address: 1 | 0x01 | 0b00000001¶

Table 122 **HIDDEN_ACCEL_VARIANCE**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
HIDDEN_ACCEL_VARIANCE: 32-bit IEEE Floating Point Value

HIDDEN_MAG_VARIANCE ¶

Address: 2 | 0x02 | 0b00000010¶

Table 123 **HIDDEN_MAG_VARIANCE**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
HIDDEN_MAG_VARIANCE: 32-bit IEEE Floating Point Value

HIDDEN_GPS_COURSE_VARIANCE ¶

Address: 3 | 0x03 | 0b00000011¶

Table 124 **HIDDEN_GPS_COURSE_VARIANCE**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
HIDDEN_GPS_COURSE_VARIANCE: 32-bit IEEE Floating Point Value

HIDDEN_GPS_POSITION_VARIANCE ¶

Address: 4 | 0x04 | 0b00000100¶

Table 125 **HIDDEN_GPS_POSITION_VARIANCE**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
HIDDEN_GPS_POSITION_VARIANCE: 32-bit IEEE Floating Point Value

HIDDEN_GPS_VELOCITY_VARIANCE ¶

Address: 5 | 0x05 | 0b00000101¶

Table 126 **HIDDEN_GPS_VELOCITY_VARIANCE**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
HIDDEN_GPS_VELOCITY_VARIANCE: 32-bit IEEE Floating Point Value

HIDDEN_STATIC_PRESS_VARIANCE ¶

Address: 6 | 0x06 | 0b00000110¶

Table 127 **HIDDEN_STATIC_PRESS_VARIANCE**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
HIDDEN_STATIC_PRESS_VARIANCE: 32-bit IEEE Floating Point Value

HIDDEN_DIFF_PRESS_VARIANCE ¶

Address: 7 | 0x07 | 0b00000111¶

Table 128 **HIDDEN_DIFF_PRESS_VARIANCE**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
HIDDEN_DIFF_PRESS_VARIANCE: 32-bit IEEE Floating Point Value

HIDDEN_Q_UVW ¶

Address: 9 | 0x09 | 0b00001001¶

Table 129 **HIDDEN_Q_UVW**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
HIDDEN_Q_UVW: 32-bit IEEE Floating Point Value

HIDDEN_Q_QUATERNION ¶

Address: 10 | 0x0A | 0b00001010¶

Table 130 **HIDDEN_Q_QUATERNION**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
HIDDEN_Q_QUATERNION: 32-bit IEEE Floating Point Value

HIDDEN_Q_GPS_POSITION ¶

Address: 11 | 0x0B | 0b00001011¶

Table 131 **HIDDEN_Q_GPS_POSITION**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
HIDDEN_Q_GPS_POSITION: 32-bit IEEE Floating Point Value

HIDDEN_Q_BIAS ¶

Address: 12 | 0x0C | 0b00001100¶

Table 132 **HIDDEN_Q_BIAS**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
HIDDEN_Q_BIAS: 32-bit IEEE Floating Point Value

HIDDEN_Q_EULER_ANGLES ¶

Address: 13 | 0x0D | 0b00001101¶

Table 133 **HIDDEN_Q_EULER_ANGLES**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
HIDDEN_Q_EULER_ANGLES: 32-bit IEEE Floating Point Value

HIDDEN_LOW_VG_ACCEL_NOISE_FACTOR ¶

Address: 14 | 0x0E | 0b00001110¶

Table 134 **HIDDEN_LOW_VG_ACCEL_NOISE_FACTOR**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
HIDDEN_LOW_VG_ACCEL_NOISE_FACTOR: 32-bit IEEE Floating Point Value

HIDDEN_LPF_TAU_GROUNDSPEED ¶

Address: 16 | 0x10 | 0b00010000¶

Table 135 **HIDDEN_LPF_TAU_GROUNDSPEED**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
HIDDEN_LPF_TAU_GROUNDSPEED: 32-bit IEEE Floating Point Value

HIDDEN_LPF_TAU_ACCEL ¶

Address: 17 | 0x11 | 0b00010001¶

Table 136 **HIDDEN_LPF_TAU_ACCEL**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
HIDDEN_LPF_TAU_ACCEL: 32-bit IEEE Floating Point Value

HIDDEN_LPF_TAU_GYRO ¶

Address: 18 | 0x12 | 0b00010010¶

Table 137 **HIDDEN_LPF_TAU_GYRO**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
HIDDEN_LPF_TAU_GYRO: 32-bit IEEE Floating Point Value

HIDDEN_LPF_TAU_MAG ¶

Address: 19 | 0x13 | 0b00010011¶

Table 138 **HIDDEN_LPF_TAU_MAG**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
HIDDEN_LPF_TAU_MAG: 32-bit IEEE Floating Point Value

HIDDEN_C_GYRO_BIAS_X_POW_0 to HIDDEN_C_GYRO_BIAS_Z_POW_3 ¶

Address: 25 to 36 | 0x19 to 0x24 | 0b00011001 to 0b00100100¶

Given:

\(T\) temperature;
\(t\) time stamp;
\(g[t]\) gyro measurement at time stamp \(t\).

We compute temperature compensation values as follows:

\[\begin{split}g[t]' &= (g[t] - P_{bias}(T)) \times P_{scale}(T), \; \\ \text{where}\\ P_{bias}(T) &= C^{bias}_0 + C^{bias}_1 T + C^{bias}_2 T^2 + C^{bias}_3 T^3 \\ P_{scale}(T) &= C^{scale}_0 + C^{scale}_1 T + C^{scale}_2 T^2 + C^{scale}_3 T^3\end{split}\]

Table 139 **HIDDEN_C_GYRO_BIAS_X_POW_0 to HIDDEN_C_GYRO_BIAS_Z_POW_3**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
\(C^{bias}_0\) HIDDEN_C_GYRO_BIAS_X_POW_0: 32-bit IEEE Floating Point Value
\(C^{bias}_1\) HIDDEN_C_GYRO_BIAS_X_POW_1: 32-bit IEEE Floating Point Value
\(C^{bias}_2\) HIDDEN_C_GYRO_BIAS_X_POW_2: 32-bit IEEE Floating Point Value
\(C^{bias}_3\) HIDDEN_C_GYRO_BIAS_X_POW_3: 32-bit IEEE Floating Point Value
\(C^{bias}_0\) HIDDEN_C_GYRO_BIAS_Y_POW_0: 32-bit IEEE Floating Point Value
\(C^{bias}_1\) HIDDEN_C_GYRO_BIAS_Y_POW_1: 32-bit IEEE Floating Point Value
\(C^{bias}_2\) HIDDEN_C_GYRO_BIAS_Y_POW_2: 32-bit IEEE Floating Point Value
\(C^{bias}_3\) HIDDEN_C_GYRO_BIAS_Y_POW_3: 32-bit IEEE Floating Point Value
\(C^{bias}_0\) HIDDEN_C_GYRO_BIAS_Z_POW_0: 32-bit IEEE Floating Point Value
\(C^{bias}_1\) HIDDEN_C_GYRO_BIAS_Z_POW_1: 32-bit IEEE Floating Point Value
\(C^{bias}_2\) HIDDEN_C_GYRO_BIAS_Z_POW_2: 32-bit IEEE Floating Point Value
\(C^{bias}_3\) HIDDEN_C_GYRO_BIAS_Z_POW_3: 32-bit IEEE Floating Point Value

HIDDEN_C_GYRO_SCALE_X_POW_0 to HIDDEN_C_GYRO_SCALE_Z_POW_3 ¶

Address: 37 to 48 | 0x25 to 0x30 | 0b00100101 to 0b00110000¶

Given:

\(T\) temperature;
\(t\) time stamp;
\(g[t]\) gyro measurement at time stamp \(t\).

We compute temperature compensation values as follows:

\[\begin{split}g[t]' &= (g[t] - P_{bias}(T)) \times P_{scale}(T), \; \\ \text{where}\\ P_{bias}(T) &= C^{bias}_0 + C^{bias}_1 T + C^{bias}_2 T^2 + C^{bias}_3 T^3 \\ P_{scale}(T) &= C^{scale}_0 + C^{scale}_1 T + C^{scale}_2 T^2 + C^{scale}_3 T^3\end{split}\]

Table 140 **HIDDEN_C_GYRO_SCALE_X_POW_0 to HIDDEN_C_GYRO_SCALE_Z_POW_3**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
\(C^{scale}_0\) HIDDEN_C_GYRO_SCALE_X_POW_0: 32-bit IEEE Floating Point Value
\(C^{scale}_1\) HIDDEN_C_GYRO_SCALE_X_POW_1: 32-bit IEEE Floating Point Value
\(C^{scale}_2\) HIDDEN_C_GYRO_SCALE_X_POW_2: 32-bit IEEE Floating Point Value
\(C^{scale}_3\) HIDDEN_C_GYRO_SCALE_X_POW_3: 32-bit IEEE Floating Point Value
\(C^{scale}_0\) HIDDEN_C_GYRO_SCALE_Y_POW_0: 32-bit IEEE Floating Point Value
\(C^{scale}_1\) HIDDEN_C_GYRO_SCALE_Y_POW_1: 32-bit IEEE Floating Point Value
\(C^{scale}_2\) HIDDEN_C_GYRO_SCALE_Y_POW_2: 32-bit IEEE Floating Point Value
\(C^{scale}_3\) HIDDEN_C_GYRO_SCALE_Y_POW_3: 32-bit IEEE Floating Point Value
\(C^{scale}_0\) HIDDEN_C_GYRO_SCALE_Z_POW_0: 32-bit IEEE Floating Point Value
\(C^{scale}_1\) HIDDEN_C_GYRO_SCALE_Z_POW_1: 32-bit IEEE Floating Point Value
\(C^{scale}_2\) HIDDEN_C_GYRO_SCALE_Z_POW_2: 32-bit IEEE Floating Point Value
\(C^{scale}_3\) HIDDEN_C_GYRO_SCALE_Z_POW_3: 32-bit IEEE Floating Point Value

HIDDEN_GYRO_ALIGNMENT1_1 to HIDDEN_GYRO_ALIGNMENT3_3 ¶

Address: 49 to 57 | 0x31 to 0x39 | 0b00110001 to 0b00111001¶

Cross-axis alignment matrix

\[\begin{split}\begin{bmatrix} \texttt{HIDDEN_GYRO_ALIGNMENT1_1} & \texttt{HIDDEN_GYRO_ALIGNMENT1_2} & \texttt{HIDDEN_GYRO_ALIGNMENT1_3} \\ \texttt{HIDDEN_GYRO_ALIGNMENT2_1} & \texttt{HIDDEN_GYRO_ALIGNMENT2_2} & \texttt{HIDDEN_GYRO_ALIGNMENT2_3} \\ \texttt{HIDDEN_GYRO_ALIGNMENT3_1} & \texttt{HIDDEN_GYRO_ALIGNMENT3_2} & \texttt{HIDDEN_GYRO_ALIGNMENT3_3} \\ \end{bmatrix}\end{split}\]

Table 141 **HIDDEN_GYRO_ALIGNMENT1_1 to HIDDEN_GYRO_ALIGNMENT3_3**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
HIDDEN_GYRO_ALIGNMENT1_1: 32-bit IEEE Floating Point Value
HIDDEN_GYRO_ALIGNMENT1_2: 32-bit IEEE Floating Point Value
HIDDEN_GYRO_ALIGNMENT1_3: 32-bit IEEE Floating Point Value
HIDDEN_GYRO_ALIGNMENT2_1: 32-bit IEEE Floating Point Value
HIDDEN_GYRO_ALIGNMENT2_2: 32-bit IEEE Floating Point Value
HIDDEN_GYRO_ALIGNMENT2_3: 32-bit IEEE Floating Point Value
HIDDEN_GYRO_ALIGNMENT3_1: 32-bit IEEE Floating Point Value
HIDDEN_GYRO_ALIGNMENT3_2: 32-bit IEEE Floating Point Value
HIDDEN_GYRO_ALIGNMENT3_3: 32-bit IEEE Floating Point Value

HIDDEN_C_ACCEL_BIAS_X_POW_0 to HIDDEN_C_ACCEL_BIAS_Z_POW_3 ¶

Address: 58 to 69 | 0x3A to 0x45 | 0b00111010 to 0b01000101¶

Given:

\(T\) temperature;
\(t\) time stamp;
\(a[t]\) accelerometer measurement at time stamp \(t\).

We compute temperature compensation values as follows:

\[\begin{split}a[t]' &= a[t] \times P_{scale}(T) + P_{bias}(T), \\ \text{where}\\ P_{scale}(T) &= C^{scale}_0 + C^{scale}_1 T + C^{scale}_2 T^2 + C^{scale}_3 T^3 \\ P_{bias}(T) &= C^{bias}_0 + C^{bias}_1 T + C^{bias}_2 T^2 + C^{bias}_3 T^3\end{split}\]

Table 142 **HIDDEN_C_ACCEL_BIAS_X_POW_0 to HIDDEN_C_ACCEL_BIAS_Z_POW_3**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
\(C^{bias}_0\) HIDDEN_C_ACCEL_BIAS_X_POW_0: 32-bit IEEE Floating Point Value
\(C^{bias}_1\) HIDDEN_C_ACCEL_BIAS_X_POW_1: 32-bit IEEE Floating Point Value
\(C^{bias}_2\) HIDDEN_C_ACCEL_BIAS_X_POW_2: 32-bit IEEE Floating Point Value
\(C^{bias}_3\) HIDDEN_C_ACCEL_BIAS_X_POW_3: 32-bit IEEE Floating Point Value
\(C^{bias}_0\) HIDDEN_C_ACCEL_BIAS_Y_POW_0: 32-bit IEEE Floating Point Value
\(C^{bias}_1\) HIDDEN_C_ACCEL_BIAS_Y_POW_1: 32-bit IEEE Floating Point Value
\(C^{bias}_2\) HIDDEN_C_ACCEL_BIAS_Y_POW_2: 32-bit IEEE Floating Point Value
\(C^{bias}_3\) HIDDEN_C_ACCEL_BIAS_Y_POW_3: 32-bit IEEE Floating Point Value
\(C^{bias}_0\) HIDDEN_C_ACCEL_BIAS_Z_POW_0: 32-bit IEEE Floating Point Value
\(C^{bias}_1\) HIDDEN_C_ACCEL_BIAS_Z_POW_1: 32-bit IEEE Floating Point Value
\(C^{bias}_2\) HIDDEN_C_ACCEL_BIAS_Z_POW_2: 32-bit IEEE Floating Point Value
\(C^{bias}_3\) HIDDEN_C_ACCEL_BIAS_Z_POW_3: 32-bit IEEE Floating Point Value

HIDDEN_C_ACCEL_SCALE_X_POW_0 to HIDDEN_C_ACCEL_SCALE_Z_POW_3 ¶

Address: 70 to 81 | 0x46 to 0x51 | 0b01000110 to 0b01010001¶

Given:

\(T\) temperature;
\(t\) time stamp;
\(a[t]\) accelerometer measurement at time stamp \(t\).

We compute temperature compensation values as follows:

\[\begin{split}a[t]' &= a[t] \times P_{scale}(T) + P_{bias}(T), \; \\ \text{where}\\ P_{scale}(T) &= C^{scale}_0 + C^{scale}_1 T + C^{scale}_2 T^2 + C^{scale}_3 T^3 \\ P_{bias}(T) &= C^{bias}_0 + C^{bias}_1 T + C^{bias}_2 T^2 + C^{bias}_3 T^3\end{split}\]

Table 143 **HIDDEN_C_ACCEL_SCALE_X_POW_0 to HIDDEN_C_ACCEL_SCALE_Z_POW_3**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
\(C^{scale}_0\) HIDDEN_C_ACCEL_SCALE_X_POW_0: 32-bit IEEE Floating Point Value
\(C^{scale}_1\) HIDDEN_C_ACCEL_SCALE_X_POW_1: 32-bit IEEE Floating Point Value
\(C^{scale}_2\) HIDDEN_C_ACCEL_SCALE_X_POW_2: 32-bit IEEE Floating Point Value
\(C^{scale}_3\) HIDDEN_C_ACCEL_SCALE_X_POW_3: 32-bit IEEE Floating Point Value
\(C^{scale}_0\) HIDDEN_C_ACCEL_SCALE_Y_POW_0: 32-bit IEEE Floating Point Value
\(C^{scale}_1\) HIDDEN_C_ACCEL_SCALE_Y_POW_1: 32-bit IEEE Floating Point Value
\(C^{scale}_2\) HIDDEN_C_ACCEL_SCALE_Y_POW_2: 32-bit IEEE Floating Point Value
\(C^{scale}_3\) HIDDEN_C_ACCEL_SCALE_Y_POW_3: 32-bit IEEE Floating Point Value
\(C^{scale}_0\) HIDDEN_C_ACCEL_SCALE_Z_POW_0: 32-bit IEEE Floating Point Value
\(C^{scale}_1\) HIDDEN_C_ACCEL_SCALE_Z_POW_1: 32-bit IEEE Floating Point Value
\(C^{scale}_2\) HIDDEN_C_ACCEL_SCALE_Z_POW_2: 32-bit IEEE Floating Point Value
\(C^{scale}_3\) HIDDEN_C_ACCEL_SCALE_Z_POW_3: 32-bit IEEE Floating Point Value

HIDDEN_ACCEL_ALIGNMENT1_1 to HIDDEN_ACCEL_ALIGNMENT3_3 ¶

Address: 82 to 90 | 0x52 to 0x5A | 0b01010010 to 0b01011010¶

Cross-axis alignment matrix

\[\begin{split}\begin{bmatrix} \texttt{HIDDEN_ACCEL_ALIGNMENT1_1} & \texttt{HIDDEN_ACCEL_ALIGNMENT1_2} & \texttt{HIDDEN_ACCEL_ALIGNMENT1_3} \\ \texttt{HIDDEN_ACCEL_ALIGNMENT2_1} & \texttt{HIDDEN_ACCEL_ALIGNMENT2_2} & \texttt{HIDDEN_ACCEL_ALIGNMENT2_3} \\ \texttt{HIDDEN_ACCEL_ALIGNMENT3_1} & \texttt{HIDDEN_ACCEL_ALIGNMENT3_2} & \texttt{HIDDEN_ACCEL_ALIGNMENT3_3} \\ \end{bmatrix}\end{split}\]

Table 144 **HIDDEN_ACCEL_ALIGNMENT1_1 to HIDDEN_ACCEL_ALIGNMENT3_3**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
HIDDEN_ACCEL_ALIGNMENT1_1: 32-bit IEEE Floating Point Value
HIDDEN_ACCEL_ALIGNMENT1_2: 32-bit IEEE Floating Point Value
HIDDEN_ACCEL_ALIGNMENT1_3: 32-bit IEEE Floating Point Value
HIDDEN_ACCEL_ALIGNMENT2_1: 32-bit IEEE Floating Point Value
HIDDEN_ACCEL_ALIGNMENT2_2: 32-bit IEEE Floating Point Value
HIDDEN_ACCEL_ALIGNMENT2_3: 32-bit IEEE Floating Point Value
HIDDEN_ACCEL_ALIGNMENT3_1: 32-bit IEEE Floating Point Value
HIDDEN_ACCEL_ALIGNMENT3_2: 32-bit IEEE Floating Point Value
HIDDEN_ACCEL_ALIGNMENT3_3: 32-bit IEEE Floating Point Value

HIDDEN_C_MAG_BIAS_X_POW_0 to HIDDEN_C_MAG_BIAS_Z_POW_3 ¶

Address: 91 to 102 | 0x5B to 0x66 | 0b01011011 to 0b01100110¶

Given:

\(T\) temperature;
\(t\) time stamp;
\(a[t]\) accelerometer measurement at time stamp \(t\).

We compute temperature compensation values as follows:

\[\begin{split}a[t]' &= a[t] \times P_{scale}(T) + P_{bias}(T), \; \\ \text{where}\\ P_{scale}(T) &= C^{scale}_0 + C^{scale}_1 T + C^{scale}_2 T^2 + C^{scale}_3 T^3 \\ P_{bias}(T) &= C^{bias}_0 + C^{bias}_1 T + C^{bias}_2 T^2 + C^{bias}_3 T^3\end{split}\]

Table 145 **HIDDEN_C_MAG_BIAS_X_POW_0 to HIDDEN_C_MAG_BIAS_Z_POW_3**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
\(C^{bias}_0\) HIDDEN_C_MAG_BIAS_X_POW_0: 32-bit IEEE Floating Point Value
\(C^{bias}_1\) HIDDEN_C_MAG_BIAS_X_POW_1: 32-bit IEEE Floating Point Value
\(C^{bias}_2\) HIDDEN_C_MAG_BIAS_X_POW_2: 32-bit IEEE Floating Point Value
\(C^{bias}_3\) HIDDEN_C_MAG_BIAS_X_POW_3: 32-bit IEEE Floating Point Value
\(C^{bias}_0\) HIDDEN_C_MAG_BIAS_Y_POW_0: 32-bit IEEE Floating Point Value
\(C^{bias}_1\) HIDDEN_C_MAG_BIAS_Y_POW_1: 32-bit IEEE Floating Point Value
\(C^{bias}_2\) HIDDEN_C_MAG_BIAS_Y_POW_2: 32-bit IEEE Floating Point Value
\(C^{bias}_3\) HIDDEN_C_MAG_BIAS_Y_POW_3: 32-bit IEEE Floating Point Value
\(C^{bias}_0\) HIDDEN_C_MAG_BIAS_Z_POW_0: 32-bit IEEE Floating Point Value
\(C^{bias}_1\) HIDDEN_C_MAG_BIAS_Z_POW_1: 32-bit IEEE Floating Point Value
\(C^{bias}_2\) HIDDEN_C_MAG_BIAS_Z_POW_2: 32-bit IEEE Floating Point Value
\(C^{bias}_3\) HIDDEN_C_MAG_BIAS_Z_POW_3: 32-bit IEEE Floating Point Value

HIDDEN_C_MAG_SCALE_X_POW_0 to HIDDEN_C_MAG_SCALE_Z_POW_3 ¶

Address: 103 to 114 | 0x67 to 0x72 | 0b01100111 to 0b01110010¶

Given:

\(T\) temperature;
\(t\) time stamp;
\(m[t]\) magnetometer measurement at time stamp \(t\).

We compute temperature compensation values as follows:

\[\begin{split}m[t]' &= (m[t] - P_{bias}(T)) \times P_{scale}(T), \; \\ \text{where}\\ P_{bias}(T) &= C^{bias}_0 + C^{bias}_1 T + C^{bias}_2 T^2 + C^{bias}_3 T^3 \\ P_{scale}(T) &= C^{scale}_0 + C^{scale}_1 T + C^{scale}_2 T^2 + C^{scale}_3 T^3\end{split}\]

Table 146 **HIDDEN_C_MAG_SCALE_X_POW_0 to HIDDEN_C_MAG_SCALE_Z_POW_3**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
\(C^{scale}_0\) HIDDEN_C_MAG_SCALE_X_POW_0: 32-bit IEEE Floating Point Value
\(C^{scale}_1\) HIDDEN_C_MAG_SCALE_X_POW_1: 32-bit IEEE Floating Point Value
\(C^{scale}_2\) HIDDEN_C_MAG_SCALE_X_POW_2: 32-bit IEEE Floating Point Value
\(C^{scale}_3\) HIDDEN_C_MAG_SCALE_X_POW_3: 32-bit IEEE Floating Point Value
\(C^{scale}_0\) HIDDEN_C_MAG_SCALE_Y_POW_0: 32-bit IEEE Floating Point Value
\(C^{scale}_1\) HIDDEN_C_MAG_SCALE_Y_POW_1: 32-bit IEEE Floating Point Value
\(C^{scale}_2\) HIDDEN_C_MAG_SCALE_Y_POW_2: 32-bit IEEE Floating Point Value
\(C^{scale}_3\) HIDDEN_C_MAG_SCALE_Y_POW_3: 32-bit IEEE Floating Point Value
\(C^{scale}_0\) HIDDEN_C_MAG_SCALE_Z_POW_0: 32-bit IEEE Floating Point Value
\(C^{scale}_1\) HIDDEN_C_MAG_SCALE_Z_POW_1: 32-bit IEEE Floating Point Value
\(C^{scale}_2\) HIDDEN_C_MAG_SCALE_Z_POW_2: 32-bit IEEE Floating Point Value
\(C^{scale}_3\) HIDDEN_C_MAG_SCALE_Z_POW_3: 32-bit IEEE Floating Point Value

HIDDEN_MAG_ALIGNMENT1_1 to HIDDEN_MAG_ALIGNMENT3_3 ¶

Address: 115 to 123 | 0x73 to 0x7B | 0b01110011 to 0b01111011¶

\[\begin{split}\begin{bmatrix} \texttt{HIDDEN_MAG_ALIGNMENT1_1} & \texttt{HIDDEN_MAG_ALIGNMENT1_2} & \texttt{HIDDEN_MAG_ALIGNMENT1_3} \\ \texttt{HIDDEN_MAG_ALIGNMENT2_1} & \texttt{HIDDEN_MAG_ALIGNMENT2_2} & \texttt{HIDDEN_MAG_ALIGNMENT2_3} \\ \texttt{HIDDEN_MAG_ALIGNMENT3_1} & \texttt{HIDDEN_MAG_ALIGNMENT3_2} & \texttt{HIDDEN_MAG_ALIGNMENT3_3} \\ \end{bmatrix}\end{split}\]

Table 147 **HIDDEN_MAG_ALIGNMENT1_1 to HIDDEN_MAG_ALIGNMENT3_3**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
HIDDEN_MAG_ALIGNMENT1_1: 32-bit IEEE Floating Point Value
HIDDEN_MAG_ALIGNMENT1_2: 32-bit IEEE Floating Point Value
HIDDEN_MAG_ALIGNMENT1_3: 32-bit IEEE Floating Point Value
HIDDEN_MAG_ALIGNMENT2_1: 32-bit IEEE Floating Point Value
HIDDEN_MAG_ALIGNMENT2_2: 32-bit IEEE Floating Point Value
HIDDEN_MAG_ALIGNMENT2_3: 32-bit IEEE Floating Point Value
HIDDEN_MAG_ALIGNMENT3_1: 32-bit IEEE Floating Point Value
HIDDEN_MAG_ALIGNMENT3_2: 32-bit IEEE Floating Point Value
HIDDEN_MAG_ALIGNMENT3_3: 32-bit IEEE Floating Point Value

HIDDEN_MAG_REFERENCE_X ¶

Address: 124 | 0x7C | 0b01111100¶

Table 148 **HIDDEN_MAG_REFERENCE_X**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
HIDDEN_MAG_REFERENCE_X: 32-bit IEEE Floating Point Value

HIDDEN_MAG_REFERENCE_Y ¶

Address: 125 | 0x7D | 0b01111101¶

Table 149 **HIDDEN_MAG_REFERENCE_Y**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
HIDDEN_MAG_REFERENCE_Y: 32-bit IEEE Floating Point Value

HIDDEN_MAG_REFERENCE_Z ¶

Address: 126 | 0x7E | 0b01111110¶

Table 150 **HIDDEN_MAG_REFERENCE_Z**¶
Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
HIDDEN_MAG_REFERENCE_Z: 32-bit IEEE Floating Point Value